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-rw-r--r--workspace/ts100/inc/Modes.h14
-rw-r--r--workspace/ts100/inc/PID.h1
-rw-r--r--workspace/ts100/src/Analog.c9
-rw-r--r--workspace/ts100/src/I2C.c28
-rw-r--r--workspace/ts100/src/Interrupt.c8
-rw-r--r--workspace/ts100/src/Main.c10
-rw-r--r--workspace/ts100/src/Modes.c37
-rw-r--r--workspace/ts100/src/PID.c34
8 files changed, 90 insertions, 51 deletions
diff --git a/workspace/ts100/inc/Modes.h b/workspace/ts100/inc/Modes.h
index d81209cc..5684afe4 100644
--- a/workspace/ts100/inc/Modes.h
+++ b/workspace/ts100/inc/Modes.h
@@ -18,6 +18,7 @@
#include "Analog.h"
#include "MMA8652FC.h"
#include <string.h>
+
typedef enum {
STARTUP, //we are sitting on the prompt to push a button
SOLDERING, //Normal operating mode
@@ -31,8 +32,12 @@ typedef enum {
TEMPCAL, //Cal tip temp offset
} operatingModeEnum;
-#define SETTINGSOPTIONSCOUNT 11 /*Number of settings in the settings menu*/
-
+//#define PIDTUNING
+#ifdef PIDTUNING
+#define SETTINGSOPTIONSCOUNT (11+3) /*Number of settings in the settings menu*/
+#else
+#define SETTINGSOPTIONSCOUNT (11) /*Number of settings in the settings menu*/
+#endif
typedef enum {
UVCO = 0,
SLEEP_TEMP,
@@ -46,6 +51,11 @@ typedef enum {
BOOSTMODE,
BOOSTTEMP,
POWERDISPLAY,
+#ifdef PIDTUNING
+ PIDP,
+ PIDI,
+ PIDD,
+#endif
} settingsPageEnum;
void ProcessUI();
diff --git a/workspace/ts100/inc/PID.h b/workspace/ts100/inc/PID.h
index 4f6105a9..ad6138ca 100644
--- a/workspace/ts100/inc/PID.h
+++ b/workspace/ts100/inc/PID.h
@@ -18,4 +18,5 @@ typedef struct {
int32_t computePID(uint16_t setpoint);
void setupPID(void);
+extern pidSettingsType pidSettings;
#endif /* PID_H_ */
diff --git a/workspace/ts100/src/Analog.c b/workspace/ts100/src/Analog.c
index 9f6e8996..c746fe60 100644
--- a/workspace/ts100/src/Analog.c
+++ b/workspace/ts100/src/Analog.c
@@ -23,7 +23,7 @@ uint16_t readDCVoltage(uint16_t divFactor) {
//This allows us to read it in X10 mode
//Returns temperature in C X10 mode
int16_t readTipTemp() {
- static uint32_t rollingAverage[16];
+ static uint32_t rollingAverage[8];
static uint8_t rIndex = 0;
/*The head has a thermocouple inline with the heater
@@ -54,13 +54,10 @@ int16_t readTipTemp() {
ad_sum = ad_sum - max - min; //remove the two outliers
avg_data = ad_sum / 8; //take the average
rollingAverage[rIndex] = avg_data;
- rIndex = (rIndex + 1) % 16;
+ rIndex = (rIndex + 1) % 8;
return (rollingAverage[0] + rollingAverage[1] + rollingAverage[2]
+ rollingAverage[3] + rollingAverage[4] + rollingAverage[5]
- + rollingAverage[6] + rollingAverage[7] + rollingAverage[8]
- + rollingAverage[9] + rollingAverage[10] + rollingAverage[11]
- + rollingAverage[12] + rollingAverage[13] + rollingAverage[14]
- + rollingAverage[15]) / 16; //get the average
+ + rollingAverage[6] + rollingAverage[7]) / 8;
}
diff --git a/workspace/ts100/src/I2C.c b/workspace/ts100/src/I2C.c
index 5703f961..e0a4ae13 100644
--- a/workspace/ts100/src/I2C.c
+++ b/workspace/ts100/src/I2C.c
@@ -81,7 +81,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
volatile int I2C_TimeOut = 0;
// /* While the bus is busy * /
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY)) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -92,7 +92,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
I2C_GenerateSTART(I2C1, ENABLE);
// / * Test on EV5 and clear it * /
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT)) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -103,7 +103,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
I2C_Send7bitAddress(I2C1, deviceAddr, I2C_Direction_Transmitter);
// / * Test on EV6 and clear it * /
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED)) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -114,7 +114,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
I2C_SendData(I2C1, readAddr);
/// * Test on EV8 and clear it * /
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED)) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -125,7 +125,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
I2C_GenerateSTART(I2C1, ENABLE);
/// * Test on EV5 and clear it * /
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT)) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -137,7 +137,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
if (numByteToRead == 1) {
/* Wait until ADDR is set */
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while ((I2C1->SR1 & 0x0002) != 0x0002) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -155,7 +155,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
/* Re-enable IRQs */
__enable_irq();
/* Wait until a data is received in DR register (RXNE = 1) EV7 */
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while ((I2C1->SR1 & 0x00040) != 0x000040) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -169,7 +169,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
/* Set POS bit */
I2C1->CR1 |= CR1_POS_Set;
/* Wait until ADDR is set: EV6 */
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while ((I2C1->SR1 & 0x0002) != 0x0002) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -186,7 +186,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
/*Re-enable IRQs */
__enable_irq();
/* Wait until BTF is set */
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while ((I2C1->SR1 & 0x00004) != 0x000004) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -210,7 +210,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
else { //numByteToRead > 2
// * Test on EV6 and clear it * /
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while (!I2C_CheckEvent(I2C1,
I2C_EVENT_MASTER_RECEIVER_MODE_SELECTED)) {
if (I2C_TimeOut-- <= 0) {
@@ -223,7 +223,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
if (numByteToRead != 3) {
/* Poll on BTF to receive data because in polling mode we can not guarantee the
EV7 software sequence is managed before the current byte transfer completes */
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while ((I2C1->SR1 & 0x00004) != 0x000004) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -239,7 +239,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
/* it remains to read three data: data N-2, data N-1, Data N */
if (numByteToRead == 3) {
/* Wait until BTF is set: Data N-2 in DR and data N -1 in shift register */
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while ((I2C1->SR1 & 0x00004) != 0x000004) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -263,7 +263,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
/* Increment */
pBuffer++;
/* Wait until RXNE is set (DR contains the last data) */
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while ((I2C1->SR1 & 0x00040) != 0x000040) {
if (I2C_TimeOut-- <= 0) {
return 1;
@@ -278,7 +278,7 @@ int I2C_Master_Read(uint8_t deviceAddr, uint8_t readAddr, uint8_t* pBuffer,
}
/* Make sure that the STOP bit is cleared by Hardware before CR1 write access */
- I2C_TimeOut = 3000;
+ I2C_TimeOut = 1000;
while ((I2C1->CR1 & 0x200) == 0x200) {
if (I2C_TimeOut-- <= 0) {
return 1;
diff --git a/workspace/ts100/src/Interrupt.c b/workspace/ts100/src/Interrupt.c
index bbe34e86..f3b9f27d 100644
--- a/workspace/ts100/src/Interrupt.c
+++ b/workspace/ts100/src/Interrupt.c
@@ -24,7 +24,7 @@ uint8_t getButtons() {
//We want to check the times for the lat buttons & also the rawKeys state
//If a key has just gone down, rawKeys & KEY ==1
uint8_t out = 0;
- if (millis() - AkeyChange > 30) {
+ if (millis() - AkeyChange > 100) {
if (LongKeys & BUT_A) {
if (rawKeys & BUT_A) {
if (millis() - AkeyChange > 800) {
@@ -41,7 +41,7 @@ uint8_t getButtons() {
} else if (LongKeys & (BUT_A << 2)) {
if (rawKeys & BUT_A) {
- if (millis() - AkeyChange > 300) {
+ if (millis() - AkeyChange > 100) {
out |= BUT_A;
AkeyChange = millis();
}
@@ -61,7 +61,7 @@ uint8_t getButtons() {
}
}
}
- if (millis() - BkeyChange > 30) {
+ if (millis() - BkeyChange > 100) {
if (LongKeys & BUT_B) {
if (rawKeys & BUT_B) {
if (millis() - BkeyChange > 800) {
@@ -76,7 +76,7 @@ uint8_t getButtons() {
}
} else if (LongKeys & (BUT_B << 2)) {
if (rawKeys & BUT_B) {
- if (millis() - BkeyChange > 300) {
+ if (millis() - BkeyChange > 100) {
out |= BUT_B;
BkeyChange = millis();
}
diff --git a/workspace/ts100/src/Main.c b/workspace/ts100/src/Main.c
index 0e156213..c257a76b 100644
--- a/workspace/ts100/src/Main.c
+++ b/workspace/ts100/src/Main.c
@@ -18,7 +18,7 @@ int main(void) {
Clear_Watchdog(); //reset the Watch dog timer
ProcessUI();
DrawUI();
- delayMs(50); //Slow the system down a little bit
+ delayMs(30); //Slow the system down a little bit
if (GPIO_ReadInputDataBit(GPIOB, GPIO_Pin_5) == Bit_RESET) {
lastMovement = millis();
//This is a workaround for the line staying low as the user is still moving. (ie sensitivity is too high for their amount of movement)
@@ -39,13 +39,13 @@ void setup() {
setupPID(); //Init the PID values
readIronTemp(systemSettings.tempCalibration, 0, 0); //load the default calibration value
if (systemSettings.OrientationMode == 2)
- Init_Oled(!getOrientation()); //Init the OLED display
+ Init_Oled(0); //Init the OLED display in RH mode, since accel wont have started up yet
else
- Init_Oled(systemSettings.OrientationMode); //Init the OLED display
+ Init_Oled(systemSettings.OrientationMode); //Init the OLED display
OLED_DrawString("VER 1.16", 8); //Version Number
- delayMs(400); //Pause to show version number
+ delayMs(400); //Pause to show version number
showBootLogoIfavailable();
- Start_Watchdog(5000); //start the system watch dog as 5 second timeout
+ Start_Watchdog(5000); //start the system watch dog as 5 second timeout
}
diff --git a/workspace/ts100/src/Modes.c b/workspace/ts100/src/Modes.c
index 6d9588d4..eb9f081f 100644
--- a/workspace/ts100/src/Modes.c
+++ b/workspace/ts100/src/Modes.c
@@ -27,7 +27,6 @@ void ProcessUI() {
uint8_t Buttons = getButtons(); //read the buttons status
static uint32_t lastModeChange = 0;
-
switch (operatingMode) {
case STARTUP:
@@ -175,7 +174,7 @@ void ProcessUI() {
case SLEEP_TEMP:
systemSettings.SleepTemp += 100; //Go up 10C at a time
if (systemSettings.SleepTemp > 3000)
- systemSettings.SleepTemp = 1000;//cant sleep higher than 300
+ systemSettings.SleepTemp = 500; //cant sleep higher than 300 or less than 50
break;
case SLEEP_TIME:
++systemSettings.SleepTime; //Go up 1 minute at a time
@@ -194,7 +193,8 @@ void ProcessUI() {
break;
case SCREENROTATION:
systemSettings.OrientationMode++;
- systemSettings.OrientationMode = systemSettings.OrientationMode % 3;
+ systemSettings.OrientationMode =
+ systemSettings.OrientationMode % 3;
break;
case MOTIONSENSITIVITY:
@@ -225,6 +225,20 @@ void ProcessUI() {
case POWERDISPLAY:
systemSettings.powerDisplay = !systemSettings.powerDisplay;
break;
+#ifdef PIDTUNING
+ case PIDP:
+ pidSettings.kp++;
+ pidSettings.kp %= 20;
+ break;
+ case PIDI:
+ pidSettings.ki++;
+ pidSettings.ki %= 10;
+ break;
+ case PIDD:
+ pidSettings.kd++;
+ pidSettings.kd %= 30;
+ break;
+#endif
default:
break;
}
@@ -474,7 +488,7 @@ void DrawUI() {
if (systemSettings.powerDisplay) {
//We want to draw in a neat little bar graph of power being pushed to the tip
//ofset 11
- uint16_t count = getIronTimer() / (30000 / 28);
+ uint16_t count = getIronTimer() / (1000 / 28);
if (count > 28)
count = 28;
OLED_DrawWideChar((count), 6);
@@ -641,7 +655,22 @@ void DrawUI() {
break;
}
break;
+#ifdef PIDTUNING
+ case PIDP:
+ OLED_DrawString("PIDP ", 5);
+ OLED_DrawThreeNumber(pidSettings.kp, 5);
+ break;
+ case PIDI:
+ OLED_DrawString("PIDI ", 5);
+ OLED_DrawThreeNumber(pidSettings.ki, 5);
+ break;
+ case PIDD:
+ OLED_DrawString("PIDD ", 5);
+ OLED_DrawThreeNumber(pidSettings.kd, 5);
+ break;
+#endif
default:
+
break;
}
}
diff --git a/workspace/ts100/src/PID.c b/workspace/ts100/src/PID.c
index 37b11551..159d72a5 100644
--- a/workspace/ts100/src/PID.c
+++ b/workspace/ts100/src/PID.c
@@ -7,38 +7,40 @@
#include "PID.h"
#define MAXPIDOUTPUT 50000
+//MAXPIDOUTPUT is the maximum time duration we can support for the irons output, as anything longer than this will be cut off by the next PID iteration
pidSettingsType pidSettings;
//This function computes the new value for the ON time of the system
//This is the return value from this function
int32_t computePID(uint16_t setpoint) {
- int32_t ITerm = 0;
- static int16_t lastReading = 0;
- uint16_t currentReading = readIronTemp(0, 1,setpoint); //get the current temp of the iron
+ static int32_t ITerm = 0; //Used to store the integral error
+ static int16_t lastError = 0;
+ uint16_t currentReading = readIronTemp(0, 1, setpoint); //get the current temp of the iron
int16_t error = (int16_t) setpoint - (int16_t) currentReading; //calculate the error term
- ITerm += (pidSettings.ki * error);
- if (ITerm > MAXPIDOUTPUT/2)
- ITerm = MAXPIDOUTPUT/2;
- else if (ITerm < 0)
- ITerm = 0; //cap at 0 since we cant force the iron to cool itself :)
+ int16_t DInput = (error - lastError) / 10; //compute the input to the D term
- int16_t DInput = (currentReading - lastReading); //compute the input to the D term
- int32_t output = (pidSettings.kp * error) + (ITerm)
+ ITerm += ((error) / 20);
+ if (ITerm > 300)
+ ITerm = 0; //Prevents this accumulating too much during inital heatup
+ else if (ITerm < 0)
+ ITerm = 0; //Cap at 0 as we can't force cool
+ if (DInput > 1000)
+ DInput = 0;
+ int32_t output = (pidSettings.kp * error) + (ITerm * pidSettings.ki)
- (pidSettings.kd * DInput);
if (output > MAXPIDOUTPUT)
output = MAXPIDOUTPUT;
else if (output < 0)
output = 0;
-
- lastReading = currentReading; //storing values for next iteration of the loop
+ lastError = error;
return output;
}
-/*Sets up the pid values*/
+/*Sets up the pid values to defaults*/
void setupPID(void) {
- pidSettings.kp = 15;
- pidSettings.ki = 2;
- pidSettings.kd = 3;
+ pidSettings.kp = 8;
+ pidSettings.ki = 1;
+ pidSettings.kd = 0; //Not using D atm
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-12-25 04:18:52 +0000